This working group will be led by myself, @simon-t4 and @mitsudome-r. The purpose of the working group is to consider the various options for map formats and define the architecture within Autoware to consume the maps. The working group’s remit will cover the following topics at least:
identify the physical storage format (map format) that Autoware should support considering factors such as
ease of creation
adoption of the format
relationship to production systems
expressiveness (features that can be encoded)
consider the library(ies) to read and write to that format to supply relevant data (map-server) to
the perception modules (e.g. traffic light detection, road markings etc)
path planning modules (routing)
localisation modules (for those localising using techniques other than NDT).
propose an architecture to support these functions including message definitions
…
We will begin by meeting every two weeks. The first meeting time is Wednesday, July 17, 2019 2:00 PM Europe: London (see below for the meeting information). The meeting will last for 30 minutes.
The regular time is to be decided based on who wants to participate in the working group, so if you are interested then speak up here even if you can’t join the first meeting!
Most of our coordination will be via GitLab and on discourse. The teleconferences will mainly be used to catch up on progress overviews and discuss tricky issues that are hard to do via text.
We are open to all, no matter your affiliation or skill set and we welcome your views and contributions.
Brian Holt is inviting you to a scheduled Zoom meeting.
Topic: Autoware Map Data and Formats Working Group
Time: Jul 17, 2019 02:00 PM London
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We at Ridecell-Auro use Lanelet2 in our stack as the vendor independent format and to support importing and exporting to different common map formats, and are building support for OpenDrive and would love to share the outcome or work together with other contributors.
We need to consider the various use cases for maps. At minimum these are the use cases
Autonomous Valet Parking (Autoware.Auto reference use case)
On-street driving
< 40km/h
40km/h (need to consider surface characteristics, road camber etc.)
Ideally we would have a single map format that would work for all the various use cases.
Our first discussion was to list the various possible Physical Storage Formats (PSF) and consider the pros and cons of each according to the following criteria:
ease of map creation
tooling for reading/writing/visualising/simulating
adoption of the format
relationship to production systems
expressiveness (features that can be encoded)
Interchangeability with other formats
This is the list of possible PSFs that we will consider for the next meeting:
OpenStreetMap XML (Lanelets variety) (to be evaluated by @simon-t4 )
Navigation Data Standard 2.5.4 (to be evaluated by Punnu Phairatt )
Aisan Vector Map (to be evaluated by @mitsudome-r )
Our next meeting will be on Wednesday, July 17, 2019 10:00 AM Europe: London (see below for the meeting information). The meeting will last for 90 minutes.
Brian Holt is inviting you to a scheduled Zoom meeting.
Topic: Autoware Map Data and Formats Working Group
Time: Jul 24, 2019 10:00 AM London
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Thanks for your comments. As you will no doubt know, it’s always challenging finding a suitable meeting time when working across USA/Europe/Asia.
The current time slot was chosen because so far we’ve only had interest from Europe and Japan, therefore it made sense to choose times that worked best for them. With the request to include USA I suggest that start a rotation, much like what the Autoware TSC does.
yes a rotation through the time zones sounds like a good compromise. Perhaps keep the scheduled time on this occasion and then give the USA participants preference for next meeting?
For tomorrow, I am open to scheduling it later, but it seems pushing it back long enough to make a difference in PDT (8AM PDT ー24:00Tokyo) would be difficult.
@Brian_Holt
Starting a rotation sounds good to me as well.
For tomorrow, I am available after 11AM London(7pm Japan). Perhaps we could change it to 2PM or 3PM London just like the first meeting. It’s still early in the morning in PDT, but I think it is better than 11AM. If we are changing the meeting time, then I would like to know it before tomorrow noon in Tokyo.
Great to have you on board! There is nothing more required than turning up for the meeting. The minutes will be posted afterwards for those who can’t attend.
Let’s keep it now at 11am UK time (7pm Japan time) because I fear that if we change it too many times people will get confused and we have have low turnout to the meeting.
I’d like to summarize this WG’s current status so that make discussions more beneficial.
I didn’t refer to mass production level HDMap like NDS because I think it’s not the stage yet.
Would you confirm the content and let me know if there are any points to be corrected?
Thank you.
Main Goal
Define the HDMap architecture for Autoware.Auto
Physical Storage Format
Internal Map Model
HDMap API
Map Creation / Editor
HDMap Conversion / Supporting Various HDMap Formats
Integration with Simulators
Computational Cost / Resource Usage
Sub Goal
Get independent of AISAN proprietary format in Autoware.AI
Replacing AISAN with Lanelet2 in Autoware.AI v1.13
Replace Autoware.AI with Autoware.Auto or use them together
HDMap API Compatibility between Autoware.AI and Autoware.Auto
Current Status
Physical Map Storage Format
OpenDrive is the best format.
But Map Creation is not considered.
Lanelet2 is temporarily used and will be replaced with OpenDrive later.
But since the original Lanelet2 doesn’t meet Autoware’s requirement, some extensions are required.
HDMap API
Whether using pub/sub or service.
Whether sending structured API or the whole map.
These should be considered using AVP use case.
Internal Map Model
Currently, Lanelet2 is the only solution.
But we might need to improve/re-implement it so that it would be safer.
Map Creation / Editor
Lanelet2
JOSM
Tier IV Vector Map Tool
Other GIS Tools
OpenDrive
Trian3d
RoadRunner
VIRES Road Network Editor
As for Lanelet2, since it is too extendable, we might need to restrict the format and define XSD-like document.
HDMap Conversion / Supporting Various HDMap Formats